Looks like the one of your esc is getting out of sync. Are you props secured and timing adapted to your motors?
Regarding PIDs you'd better adjust them from the autotune screen, on a big quad you can reduce damping and increase sensitivity quite a bit.
For logging you can add a cheap openlagger to your setup. Loging on memmory is possible but not really usefull as the huge logs do take ages to copy on your PC.